412816.fig.002a
(a) Parallel robot for ophthalmic therapy
412816.fig.002b
(b) Parallel robot for prostate needle therapy
Figure 2: (a) The design for a dual-arm robot for use in ophthalmic surgery. Two parallel robots are perched upon a fixation halo, and each can hold modular instruments [5]. (b) The 4-DOF parallel platform manipulator is integrated with a 3-DOF needle driver module to provide 7-DOF needle motion for prostate interventions [6].